教程 04：多电机控制
核心原则
同一厂商 → 同一个 Controller# 好：达妙电机用同一个控制器
with Controller("can0") as ctrl:
m1 = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
m2 = ctrl.add_damiao_motor(0x02, 0x12, "4340P")
m3 = ctrl.add_damiao_motor(0x03, 0x13, "4340P")
# 好：不同厂商用不同的控制器
with Controller("can0") as dm_ctrl:
dm = dm_ctrl.add_damiao_motor(0x01, 0x11, "4340P")
with Controller("can0") as rs_ctrl:
rs = rs_ctrl.add_robstride_motor(127, 0xFE, "rs-00")
不要把不同厂商的电机加到同一个 Controller！每个厂商协议不同。
用字典管理电机
推荐用字典存储电机配置和句柄：from motorbridge import Controller, Mode
# 配置字典
MOTOR_CONFIG = {
"左髋": {"motor_id": 0x01, "feedback_id": 0x11, "model": "4340P"},
"左膝": {"motor_id": 0x02, "feedback_id": 0x12, "model": "4340P"},
"右髋": {"motor_id": 0x03, "feedback_id": 0x13, "model": "4340P"},
"右膝": {"motor_id": 0x04, "feedback_id": 0x14, "model": "4340P"},
}
with Controller("can0") as ctrl:
# 创建电机句柄字典
motors = {}
for name, cfg in MOTOR_CONFIG.items():
motors[name] = ctrl.add_damiao_motor(
cfg["motor_id"],
cfg["feedback_id"],
cfg["model"]
)
# 一起使能
ctrl.enable_all()
# 设置模式
for motor in motors.values():
motor.ensure_mode(Mode.MIT, 1000)
# 按名字控制
motors["左髋"].send_mit(0.5, 0.0, 30.0, 1.0, 0.0)
motors["左膝"].send_mit(-0.3, 0.0, 30.0, 1.0, 0.0)
批量读取状态
高效地读取所有电机状态：import time
def read_all_states(motors):
"""批量读取所有电机状态"""
# 1. 先请求所有反馈
for motor in motors.values():
motor.request_feedback()
# 2. 一起 poll（高效）
ctrl.poll_feedback_once()
# 3. 读取所有状态
states = {}
for name, motor in motors.items():
states[name] = motor.get_state()
return states
# 使用
states = read_all_states(motors)
for name, state in states.items():
if state:
print(f"{name}: pos={state.pos:.3f}")
同步运动
让多个电机同时动起来：import time
import math
# 正弦波同步运动
for i in range(200):
t = i * 0.02
# 计算目标
hip_target = 0.3 * math.sin(t)
knee_target = 0.5 * math.sin(t)
# 发送给所有电机
motors["左髋"].send_mit(hip_target, 0.0, 30.0, 1.0, 0.0)
motors["右髋"].send_mit(hip_target, 0.0, 30.0, 1.0, 0.0)
motors["左膝"].send_mit(knee_target, 0.0, 30.0, 1.0, 0.0)
motors["右膝"].send_mit(knee_target, 0.0, 30.0, 1.0, 0.0)
time.sleep(0.02)
交替运动
电机之间有相位差：import time
import math
# 交替运动（180°相位差）
for i in range(200):
t = i * 0.02
left_target = 0.5 * math.sin(t)
right_target = 0.5 * math.sin(t + math.pi) # 相位差 180°
motors["左髋"].send_mit(left_target, 0.0, 30.0, 1.0, 0.0)
motors["右髋"].send_mit(right_target, 0.0, 30.0, 1.0, 0.0)
time.sleep(0.02)
步态模式（简单行走）
import time
import math
# 四条腿的配置
LEGS = {
"fl_hip": {"id": 0x01, "fb": 0x11},
"fl_knee": {"id": 0x02, "fb": 0x12},
"fr_hip": {"id": 0x03, "fb": 0x13},
"fr_knee": {"id": 0x04, "fb": 0x14},
}
def walk_gait(phase):
"""根据相位(0-1)生成步态目标"""
fl_phase = phase
fr_phase = (phase + 0.5) % 1.0 # 右腿相位差半周期
return {
"fl_hip": 0.3 * math.sin(fl_phase * 2 * math.pi),
"fl_knee": 0.5 * abs(math.sin(fl_phase * 2 * math.pi)),
"fr_hip": 0.3 * math.sin(fr_phase * 2 * math.pi),
"fr_knee": 0.5 * abs(math.sin(fr_phase * 2 * math.pi)),
}
with Controller("can0") as ctrl:
motors = {
name: ctrl.add_damiao_motor(cfg["id"], cfg["fb"], "4340P")
for name, cfg in LEGS.items()
}
ctrl.enable_all()
for motor in motors.values():
motor.ensure_mode(Mode.MIT, 1000)
# 行走 5 秒
dt = 0.02
gait_period = 1.0 # 1 秒一个步态周期
for i in range(int(5.0 / dt)):
phase = (i * dt) / gait_period
targets = walk_gait(phase)
for name, target in targets.items():
motors[name].send_mit(target, 0.0, 30.0, 1.0, 0.0)
time.sleep(dt)
安全监控
监控所有电机的温度和状态：TEMP_WARNING = 70.0
TEMP_CRITICAL = 85.0
def check_all_motors(motors, ctrl):
"""检查所有电机，返回 False 表示需要停止"""
for name, motor in motors.items():
motor.request_feedback()
ctrl.poll_feedback_once()
for name, motor in motors.items():
state = motor.get_state()
if state is None:
continue
if state.t_mos > TEMP_CRITICAL:
print(f"危险！{name} MOSFET温度: {state.t_mos:.1f}°C")
return False
if state.t_rotor > TEMP_CRITICAL:
print(f"危险！{name} 转子温度: {state.t_rotor:.1f}°C")
return False
if state.status_code != 0:
print(f"{name} 错误码: 0x{state.status_code:02X}")
return True
# 在控制循环中使用
for i in range(1000):
# 发送命令...
if not check_all_motors(motors, ctrl):
print("紧急停止！")
ctrl.disable_all()
break
time.sleep(0.02)
完整示例
#!/usr/bin/env python3
"""多电机控制完整示例"""
import time
import math
from motorbridge import Controller, Mode
# 电机配置
MOTORS = {
"左髋": {"id": 0x01, "fb": 0x11},
"左膝": {"id": 0x02, "fb": 0x12},
"右髋": {"id": 0x03, "fb": 0x13},
"右膝": {"id": 0x04, "fb": 0x14},
}
def main():
with Controller("can0") as ctrl:
# 创建电机
motors = {
name: ctrl.add_damiao_motor(cfg["id"], cfg["fb"], "4340P")
for name, cfg in MOTORS.items()
}
print("使能电机...")
ctrl.enable_all()
print("设置模式...")
for motor in motors.values():
motor.ensure_mode(Mode.MIT, 1000)
print("开始控制（Ctrl+C 停止）")
try:
for i in range(500):
t = i * 0.02
# 生成目标
targets = {
"左髋": 0.3 * math.sin(t),
"左膝": 0.5 * math.sin(t),
"右髋": 0.3 * math.sin(t + 0.1),
"右膝": 0.5 * math.sin(t + 0.1),
}
# 发送命令
for name, target in targets.items():
motors[name].send_mit(target, 0.0, 30.0, 1.0, 0.0)
# 每 10 次打印一次
if i % 10 == 0:
for name, motor in motors.items():
motor.request_feedback()
ctrl.poll_feedback_once()
lh = motors["左髋"].get_state()
rh = motors["右髋"].get_state()
if lh and rh:
print(f"#{i:03d} 左髋={lh.pos:+.2f} 右髋={rh.pos:+.2f}")
time.sleep(0.02)
except KeyboardInterrupt:
print("\n用户中断")
finally:
print("禁用电机...")
ctrl.disable_all()
if __name__ == "__main__":
main()
下一步
- 教程 05：寄存器参数 - 修改电机内部参数
- 最佳实践：控制循环模式 - 生产级模式